Video processing system and method

ABSTRACT

Embodiments provide a video processing system that can include a video processor, a decompression component, and a demosaicing component. The video processing system can be configured to decompress and demosaic compressed raw video data such that the video data is substantially visually lossless.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.13/566,924, filed on Aug. 3, 2012 entitled “VIDEO CAMERA,” which is acontinuation of U.S. patent application Ser. No. 12/422,507, filed onApr. 13, 2009 entitled “VIDEO CAMERA,” which is a continuation-in-partof U.S. patent application Ser. No. 12/101,882, filed on Apr. 11, 2008,which claims benefit under 35 U.S.C. §119(e) to U.S. Provisional PatentApplication No. 60/911,196, filed Apr. 11, 2007, and 61/017,406, filedDec. 28, 2007. The entire contents of each of the foregoing applicationsare hereby incorporated by reference.

BACKGROUND

1. Field of the Inventions

The present inventions are directed to digital cameras, such as thosefor capturing still or moving pictures, and more particularly, todigital cameras that compress image data.

2. Description of the Related Art

Despite the availability of digital video cameras, the producers ofmajor motion pictures and some television broadcast media continue torely on film cameras. The film used for such provides video editors withvery high resolution images that can be edited by conventional means.More recently, however, such film is often scanned, digitized anddigitally edited.

SUMMARY OF THE INVENTIONS

Although some currently available digital video cameras include highresolution image sensors, and thus output high resolution video, theimage processing and compression techniques used on board such camerasare too lossy and thus eliminate too much raw image data to beacceptable in the high end portions of the market noted above. An aspectof at least one of the embodiments disclosed herein includes therealization that video quality that is acceptable for the higher endportions of the markets noted above, such as the major motion picturemarket, can be satisfied by cameras that can capture and store raw orsubstantially raw video data having a resolution of at least about 2 kand at a frame rate of at least about 23 frames per second.

Thus, in accordance with an embodiment, a video camera can comprise aportable housing, and a lens assembly supported by the housing andconfigured to focus light. A light sensitive device can be configured toconvert the focused light into raw image data with a resolution of atleast 2 k at a frame rate of at least about twenty-three frames persecond. The camera can also include a memory device and an imageprocessing system configured to compress and store in the memory devicethe raw image data at a compression ratio of at least six to one andremain substantially visually lossless, and at a rate of at least about23 frames per second.

In accordance with another embodiment, a method of recording a motionvideo with a camera can comprise guiding light onto a light sensitivedevice. The method can also include converting the light received by thelight sensitive device into raw digital image data at a rate of at leastgreater than twenty three frames per second, compressing the raw digitalimage data, and recording the raw image data at a rate of at least about23 frames per second onto a storage device.

In accordance with yet another embodiment, a video camera can comprise alens assembly supported by the housing and configured to focus light anda light sensitive device configured to convert the focused light into asignal of raw image data representing the focused light. The camera canalso include a memory device and means for compressing and recording theraw image data at a frame rate of at least about 23 frames per second.

In accordance with yet another embodiment, a video camera can comprise aportable housing having at least one handle configured to allow a userto manipulate the orientation with respect to at least one degree ofmovement of the housing during a video recording operation of thecamera. A lens assembly can comprise at least one lens supported by thehousing and configured to focus light at a plane disposed inside thehousing. A light sensitive device can be configured to convert thefocused light into raw image data with a horizontal resolution of atleast 2 k and at a frame rate of at least about twenty three frames persecond. A memory device can also be configured to store video imagedata. An image processing system can be configured to compress and storein the memory device the raw image data at a compression ratio of atleast six to one and remain substantially visually lossless, and at arate of at least about 23 frames per second.

Another aspect of at least one of the inventions disclosed hereinincludes the realization that because the human eye is more sensitive togreen wavelengths than any other color, green image data basedmodification of image data output from an image sensor can be used toenhance compressibility of the data, yet provide a higher quality videoimage. One such technique can include subtracting the magnitude of greenlight detected from the magnitudes of red and/or blue light detectedprior to compressing the data. This can convert the red and/or blueimage data into a more compressible form. For example, in the knownprocesses for converting gamma corrected RGB data to Y′CbCr, the imageis “decorrelated”, leaving most of the image data in the Y′ (a.k.a.“luma”), and as such, the remaining chroma components are morecompressible. However, the known techniques for converting to the Y′CbCrformat cannot be applied directly to Bayer pattern data because theindividual color data is not spatially correlated and Bayer pattern dataincludes twice as much green image data as blue or red image data. Theprocesses of green image data subtraction, in accordance with some ofthe embodiments disclosed herein, can be similar to the Y′CbCrconversion noted above in that most of the image data is left in thegreen image data, leaving the remaining data in a more compressibleform.

Further, the process of green image data subtraction can be reversed,preserving all the original raw data. Thus, the resulting system andmethod incorporating such a technique can provide lossless or visuallylossless and enhanced compressibility of such video image data.

Thus, in accordance with an embodiment, a video camera can comprise alens assembly supported by the housing and configured to focus light anda light sensitive device configured to convert the focused light into araw signal of image data representing at least first, second, and thirdcolors of the focused light. An image processing module can beconfigured to modify image data of at least one of the first and secondcolors based on the image data of the third color. Additionally, thevideo camera can include a memory device and a compression deviceconfigured to compress the image data of the first, second, and thirdcolors and to store the compressed image data on the memory device.

In accordance with another embodiment, a method of processing an imagecan be provided. The method can include converting an image and intofirst image data representing a first color, second image datarepresenting a second color, and third image data representing a thirdcolor, modifying at least the first image data and the second image databased on the third image data, compressing the third image data and themodified first and second image data, and storing the compressed data.

In accordance with yet another embodiment, a video camera can comprise alens assembly supported by the housing and configured to focus light. Alight sensitive device can be configured to convert the focused lightinto a raw signal of image data representing at least first, second, andthird colors of the focused light. The camera can also include means formodifying image data of at least one of the first and second colorsbased on the image data of the third color, a memory device, and acompression device configured to compress the image data of the first,second, and third colors and to store the compressed image data on thememory device.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a block diagram illustrating a system that can includehardware and/or can be configured to perform methods for processingvideo image data in accordance with an embodiment.

FIG. 2 is an optional embodiment of a housing for the cameraschematically illustrated in FIG. 1.

FIG. 3 is a schematic layout of an image sensor having a Bayer PatternFilter that can be used with the system illustrated in FIG. 1.

FIG. 4 is a schematic block diagram of an image processing module thatcan be used in the system illustrated in FIG. 1.

FIG. 5 is a schematic layout of the green image data from the greensensor cells of the image sensor of FIG. 3.

FIG. 6 is a schematic layout of the remaining green image data of FIG. 5after an optional process of deleting some of the original green imagedata.

FIG. 7 is a schematic layout of the red, blue, and green image data ofFIG. 5 organized for processing in the image processing module of FIG.1.

FIG. 8 is a flowchart illustrating an image data transformationtechnique that can be used with the system illustrated in FIG. 1.

FIG. 8A is a flowchart illustrating a modification of the image datatransformation technique of FIG. 8 that can also be used with the systemillustrated in FIG. 1.

FIG. 9 is a schematic layout of blue image data resulting from an imagetransformation process of FIG. 8.

FIG. 10 is a schematic layout of red image data resulting from an imagetransformation process of FIG. 8.

FIG. 11 illustrates an exemplary optional transform that can be appliedto the image data for gamma correction.

FIG. 12 is a flowchart of a control routine that can be used with thesystem of FIG. 1 to decompress and demosaic image data.

FIG. 12A is a flowchart illustrating a modification of the controlroutine of FIG. 12 that can also be used with the system illustrated inFIG. 1.

FIG. 13 is a schematic layout of green image data having beendecompressed and demosaiced according to the flowchart of FIG. 12.

FIG. 14 is a schematic layout of half of the original green image datafrom FIG. 13, having been decompressed and demosaiced according to theflowchart of FIG. 12.

FIG. 15 is a schematic layout of blue image data having beendecompressed according to the flowchart of FIG. 12.

FIG. 16 is a schematic layout of blue image data of FIG. 15 having beendemosaiced according to the flowchart of FIG. 12.

FIGS. 17A-17B are flowcharts illustrating an image data transformationtechnique which includes noise removal that can be applied in the systemillustrated in FIG. 1.

FIG. 17C is a flowchart illustrating noise removal routines performed byexemplary components of the system illustrated in FIG. 1.

FIG. 18A is a flowchart illustrating a thresholded median denoisingroutine performed by exemplary components of the system illustrated inFIG. 1.

FIGS. 18B-18C are schematic layouts of blue, red, and green image datathat can be used in a thresholded median denoising routine performed byexemplary components of the system in FIG. 1.

FIG. 19A is a flowchart illustrating a spatial denoising routineperformed by exemplary components of the system illustrated in FIG. 1.

FIGS. 19B-19C are schematic layouts of blue, red, and green image datathat can be used in spatial and temporal denoising routines performed byexemplary components of the system in FIG. 1.

FIGS. 19D-F illustrate exemplary weighting functions that can be appliedby the noise removal routines of FIG. 18A.

FIG. 20 is a flowchart illustrating a temporal denoising routineperformed by exemplary components of the system illustrated in FIG. 1.

DETAILED DESCRIPTION OF EMBODIMENTS

FIG. 1 is a schematic diagram of a camera having image sensing,processing, and compression modules, described in the context of a videocamera for moving pictures. The embodiments disclosed herein aredescribed in the context of a video camera having a single sensor devicewith a Bayer pattern filter because these embodiments have particularutility in this context. However, the embodiments and inventions hereincan also be applied to cameras having other types of image sensors(e.g., CMY Bayer as well as other non-Bayer patterns), other numbers ofimage sensors, operating on different image format types, and beingconfigured for still and/or moving pictures. Thus, it is to beunderstood that the embodiments disclosed herein are exemplary butnonlimiting embodiments, and thus, the inventions disclosed herein arenot limited to the disclosed exemplary embodiments.

With continued reference to FIG. 1, a camera 10 can include a body orhousing 12 configured to support a system 14 configured to detect,process, and optionally store and/or replay video image data. Forexample, the system 14 can include optics hardware 16, an image sensor18, an image processing module 20, a compression module 22, and astorage device 24. Optionally, the camera 10 can also include a monitormodule 26, a playback module 28, and a display 30.

FIG. 2 illustrates a nonlimiting exemplary embodiment of the camera 10.As shown in FIG. 2, the optics hardware 16 can be supported by thehousing 12 in a manner that leaves it exposed at its outer surface. Insome embodiments, the system 14 is supported within the housing 12. Forexample, the image sensor 18, image processing module 20, and thecompression module 22 can be housed within the housing 12. The storagedevice 24 can be mounted in the housing 12. Additionally, in someembodiments, the storage device 24 can be mounted to an exterior of thehousing 12 and connected to the remaining portions of the system 14through any type of known connector or cable. Additionally, the storagedevice 24 can be connected to the housing 12 with a flexible cable, thusallowing the storage device 24 to be moved somewhat independently fromthe housing 12. For example, with such a flexible cable connection, thestorage device 24 can be worn on a belt of a user, allowing the totalweight of the housing 12 to be reduced. Further, in some embodiments,the housing can include one or more storage devices 24 inside andmounted to its exterior. Additionally, the housing 12 can also supportthe monitor module 26, and playback module 28. Additionally, in someembodiments, the display 30 can be configured to be mounted to anexterior of the housing 12.

The optics hardware 16 can be in the form of a lens system having atleast one lens configured to focus an incoming image onto the imagesensor 18. The optics hardware 16, optionally, can be in the form of amulti-lens system providing variable zoom, aperture, and focus.Additionally, the optics hardware 16 can be in the form of a lens socketsupported by the housing 12 and configured to receive a plurality ofdifferent types of lens systems for example, but without limitation, theoptics hardware 16 include a socket configured to receive various sizesof lens systems including a 50-100 millimeter (F2.8) zoom lens, an 18-50millimeter (F2.8) zoom lens, a 300 millimeter (F2.8) lens, 15 millimeter(F2.8) lens, 25 millimeter (F1.9) lens, 35 millimeter (F1.9) lens, 50millimeter (F1.9) lens, 85 millimeter (F1.9) lens, and/or any otherlens. As noted above, the optics hardware 16 can be configured such thatdespite which lens is attached thereto, images can be focused upon alight-sensitive surface of the image sensor 18.

The image sensor 18 can be any type of video sensing device, including,for example, but without limitation, CCD, CMOS, vertically-stacked CMOSdevices such as the Foveon® sensor, or a multi-sensor array using aprism to divide light between the sensors. In some embodiments, theimage sensor 18 can include a CMOS device having about 12 millionphotocells. However, other size sensors can also be used. In someconfigurations, camera 10 can be configured to output video at “2 k”(e.g., 2048×1152 pixels), “4 k” (e.g., 4,096×2,540 pixels), “4.5 k”horizontal resolution or greater resolutions. As used herein, in theterms expressed in the format of xk (such as 2 k and 4 k noted above),the “x” quantity refers to the approximate horizontal resolution. Assuch, “4 k” resolution corresponds to about 4000 or more horizontalpixels and “2 k” corresponds to about 2000 or more pixels. Usingcurrently commercially available hardware, the sensor can be as small asabout 0.5 inches (8 mm), but it can be about 1.0 inches, or larger.Additionally, the image sensor 18 can be configured to provide variableresolution by selectively outputting only a predetermined portion of thesensor 18. For example, the sensor 18 and/or the image processing modulecan be configured to allow a user to identify the resolution of theimage data output.

The camera 10 can also be configured to downsample and subsequentlyprocess the output of the sensor 18 to yield video output at 2K, 1080p,720p, or any other resolution. For example, the image data from thesensor 18 can be “windowed”, thereby reducing the size of the outputimage and allowing for higher readout speeds. However, other sizesensors can also be used. Additionally, the camera 10 can be configuredto upsample the output of the sensor 18 to yield video output at higherresolutions.

With reference to FIGS. 1 and 3, in some embodiments, the sensor 18 caninclude a Bayer pattern filter. As such, the sensor 18, by way of itschipset (not shown) outputs data representing magnitudes of red, green,or blue light detected by individual photocells of the image sensor 18.FIG. 3 schematically illustrates the Bayer pattern output of the sensor18. In some embodiments, for example, as shown in FIG. 3, the Bayerpattern filter has twice as many green elements as the number of redelements and the number of blue elements. The chipset of the imagesensor 18 can be used to read the charge on each element of the imagesensor and thus output a stream of values in the well-known RGB formatoutput.

With continued reference to FIG. 4, the image processing module 20optionally can be configured to format the data stream from the imagesensor 18 in any known manner. In some embodiments, the image processingmodule 20 can be configured to separate the green, red, and blue imagedata into three or four separate data compilations. For example, theimage processing module 20 can be configured to separate the red datainto one red data element, the blue data into one blue data element, andthe green data into one green data element. For example, with referenceto FIG. 4, the image processing module 20 can include a red dataprocessing module 32, a blue data image processing module 34, and afirst green image data processing module 36.

As noted above, however, the Bayer pattern data illustrated in FIG. 3,has twice as many green pixels as the other two colors. FIG. 5illustrates a data component with the blue and red data removed, leavingonly the original green image data.

In some embodiments, the camera 10 can be configured to delete or omitsome of the green image data. For example, in some embodiments, theimage processing module 20 can be configured to delete ½ of the greenimage data so that the total amount of green image data is the same asthe amounts of blue and red image data. For example, FIG. 6 illustratesthe remaining data after the image processing module 20 deletes ½ of thegreen image data. In the illustrated embodiment of FIG. 6, the rows n−3,n−1, n+1, and n+3 have been deleted. This is merely one example of thepattern of green image data that can be deleted. Other patterns andother amounts of green image data can also be deleted.

In some alternatives, the camera 10 can be configured to delete ½ of thegreen image data after the red and blue image data has been transformedbased on the green image data. This optional technique is describedbelow following the description of the subtraction of green image datavalues from the other color image data.

Optionally, the image processing module 20 can be configured toselectively delete green image data. For example, the image processingmodule 20 can include a deletion analysis module (not shown) configuredto selectively determine which green image data to delete. For example,such a deletion module can be configured to determine if deleting apattern of rows from the green image data would result in aliasingartifacts, such as Moiré lines, or other visually perceptible artifacts.The deletion module can be further configured to choose a pattern ofgreen image data to delete that would present less risk of creating suchartifacts. For example, the deletion module can be configured to choosea green image data deletion pattern of alternating vertical columns ifit determines that the image captured by the image sensor 18 includes animage feature characterized by a plurality of parallel horizontal lines.This deletion pattern can reduce or eliminate artifacts, such as Moirélines, that might have resulted from a deletion pattern of alternatinglines of image data parallel to the horizontal lines detected in theimage.

However, this merely one exemplary, non-limiting example of the types ofimage features and deletion patterns that can be used by the deletionmodule. The deletion module can also be configured to detect other imagefeatures and to use other image data deletion patterns, such as forexample, but without limitation, deletion of alternating rows,alternating diagonal lines, or other patterns. Additionally, thedeletion module can be configured to delete portions of the other imagedata, such as the red and blue image data, or other image data dependingon the type of sensor used.

Additionally, the camera 10 can be configured to insert a data fieldinto the image data indicating what image data has been deleted. Forexample, but without limitation, the camera 10 can be configured toinsert a data field into the beginning of any video clip stored into thestorage device 24, indicating what data has been deleted in each of the“frames” of the video clip. In some embodiments, the camera can beconfigured to insert a data field into each frame captured by the sensor18, indicating what image data has been deleted. For example, in someembodiments, where the image processing module 20 is configured todelete ½ of the green image data in one deletion pattern, the data fieldcan be as small as a single bit data field, indicating whether or notimage data has been deleted. Since the image processing module 20 isconfigured to delete data in only one pattern, a single bit issufficient to indicate what data has been deleted.

In some embodiments, as noted above, the image processing module 20 canbe configured to selectively delete image data in more than one pattern.Thus, the image data deletion field can be larger, including asufficient number of values to provide an indication of which of theplurality of different image data deletion patterns was used. This datafield can be used by downstream components and/or processes to determineto which spatial positions the remaining image data corresponds.

In some embodiments, the image processing module can be configured toretain all of the raw green image data, e.g., the data shown in FIG. 5.In such embodiments, the image processing module can include one or moregreen image data processing modules.

As noted above, in known Bayer pattern filters, there are twice as manygreen elements as the number of red elements and the number of blueelements. In other words, the red elements comprise 25% of the totalBayer pattern array, the blue elements corresponded 25% of the Bayerpattern array and the green elements comprise 50% of the elements of theBayer pattern array. Thus, in some embodiments, where all of the greenimage data is retained, the image processing module 20 can include asecond green data image processing module 38. As such, the first greendata image processing module 36 can process half of the green elementsand the second green image data processing module 38 can process theremaining green elements. However, the present inventions can be used inconjunction with other types of patterns, such as for example, butwithout limitation, CMY and RGBW.

FIG. 7 includes schematic illustrations of the red, blue and two greendata components processed by modules 32, 34, 36, and 38 (FIG. 4). Thiscan provide further advantages because the size and configuration ofeach of these modules can be about the same since they are handlingabout the same amount of data. Additionally, the image processing module20 can be selectively switched between modes in which is processes allof the green image data (by using both modules 36 and 38) and modeswhere ½ of the green image data is deleted (in which it utilizes onlyone of modules 36 and 38). However, other configurations can also beused.

Additionally, in some embodiments, the image processing module 20 caninclude other modules and/or can be configured to perform otherprocesses, such as, for example, but without limitation, gammacorrection processes, noise filtering processes, etc.

Additionally, in some embodiments, the image processing module 20 can beconfigured to subtract a value of a green element from a value of a blueelement and/or red element. As such, in some embodiments, when certaincolors are detected by the image sensor 18, the corresponding red orblue element can be reduced to zero. For example, in many photographs,there can be large areas of black, white, or gray, or a color shiftedfrom gray toward the red or blue colors. Thus, if the correspondingpixels of the image sensor 18 have sensed an area of gray, the magnitudeof the green, red, and blue, would be about equal. Thus, if the greenvalue is subtracted from the red and blue values, the red and bluevalues will drop to zero or near zero. Thus, in a subsequent compressionprocess, there will be more zeros generated in pixels that sense ablack, white, or gray area and thus the resulting data will be morecompressible. Additionally, the subtraction of green from one or both ofthe other colors can make the resulting image data more compressible forother reasons.

Such a technique can help achieve a higher effective compression ratioand yet remain visually lossless due to its relationship to the entropyof the original image data. For example, the entropy of an image isrelated to the amount of randomness in the image. The subtraction ofimage data of one color, for example, from image data of the othercolors can reduce the randomness, and thus reduce the entropy of theimage data of those colors, thereby allowing the data to be compressedat higher compression ratios with less loss. Typically, an image is nota collection of random color values. Rather, there is often a certaindegree of correlation between surrounding picture elements. Thus, such asubtraction technique can use the correlation of picture elements toachieve better compression. The amount of compression will depend, atleast in part, on the entropy of the original information in the image.

In some embodiments, the magnitudes subtracted from a red or blue pixelcan be the magnitude of the value output from a green pixel adjacent tothe subject red or blue pixel. Further, in some embodiments, the greenmagnitude subtracted from the red or blue elements can be derived froman average of the surrounding green elements. Such techniques aredescribed in greater detail below. However, other techniques can also beused.

Optionally, the image processing module 20 can also be configured toselectively subtract green image data from the other colors. Forexample, the image processing module 20 can be configured to determineif subtracting green image data from a portion of the image data ofeither of the other colors would provide better compressibility or not.In this mode, the image processing module 20 can be configured to insertflags into the image data indicating what portions of the image data hasbeen modified (by e.g., green image data subtraction) and which portionshave not been so modified. With such flags, a downstreamdemosaicing/reconstruction component can selectively add green imagevalues back into the image data of the other colors, based on the statusof such data flags.

Optionally, image processing module 20 can also include a further datareduction module (not shown) configured to round values of the red andblue data. For example, if, after the subtraction of green magnitudes,the red or blue data is near zero (e.g., within one or two on an 8-bitscale ranging from 0-255 or higher magnitudes for a higher resolutionsystem). For example, the sensor 18 can be a 12-bit sensor outputtingred, blue, and green data on a scale of 0-4095. Any rounding orfiltering of the data performed the rounding module can be adjusted toachieve the desired effect. For example, rounding can be performed to alesser extent if it is desired to have lossless output and to a greaterextent if some loss or lossy output is acceptable. Some rounding can beperformed and still result in a visually lossless output. For example,on a 8-bit scale, red or blue data having absolute value of up to 2 or 3can be rounded to 0 and still provide a visually lossless output.Additionally, on a 12-bit scale, red or blue data having an absolutevalue of up to 10 to 20 can be rounded to 0 and still provide visuallylossless output.

Additionally, the magnitudes of values that can be rounded to zero, orrounded to other values, and still provide a visually lossless outputdepends on the configuration of the system, including the opticshardware 16, the image sensor 18, the resolution of the image sensor,the color resolution (bit) of the image sensor 18, the types offiltering, anti-aliasing techniques or other techniques performed by theimage processing module 20, the compression techniques performed by thecompression module 22, and/or other parameters or characteristics of thecamera 10.

As noted above, in some embodiments, the camera 10 can be configured todelete ½ of the green image data after the red and blue image data hasbeen transformed based on the green image data. For example, but withoutlimitation, the processor module 20 can be configured to delete ½ of thegreen image data after the average of the magnitudes of the surroundinggreen data values have been subtracted from the red and blue datavalues. This reduction in the green data can reduce throughputrequirements on the associated hardware. Additionally, the remaininggreen image data can be used to reconstruct the red and blue image data,described in greater detail below with reference to FIGS. 14 and 16.

As noted above, the camera 10 can also include a compression module 22.The compression module 22 can be in the form of a separate chip or itcan be implemented with software and another processor. For example, thecompression module 22 can be in the form of a commercially availablecompression chip that performs a compression technique in accordancewith the JPEG 2000 standard, or other compression techniques.

The compression module can be configured to perform any type ofcompression process on the data from the image processing module 20. Insome embodiments, the compression module 22 performs a compressiontechnique that takes advantage of the techniques performed by the imageprocessing module 20. For example, as noted above, the image processingmodule 20 can be configured to reduce the magnitude of the values of thered and blue data by subtracting the magnitudes of green image data,thereby resulting in a greater number of zero values, as well as othereffects. Additionally, the image processing module 20 can perform amanipulation of raw data that uses the entropy of the image data. Thus,the compression technique performed by the compression module 22 can beof a type that benefits from the presence of larger strings of zeros toreduce the size of the compressed data output therefrom.

Further, the compression module 22 can be configured to compress theimage data from the image processing module 20 to result in a visuallylossless output. For example, firstly, the compression module can beconfigured to apply any known compression technique, such as, butwithout limitation, JPEG 2000, MotionJPEG, any DCT based codec, anycodec designed for compressing RGB image data, H.264, MPEG4, Huffman, orother techniques.

Depending on the type of compression technique used, the variousparameters of the compression technique can be set to provide a visuallylossless output. For example, many of the compression techniques notedabove can be adjusted to different compression rates, wherein whendecompressed, the resulting image is better quality for lowercompression rates and lower quality for higher compression rates. Thus,the compression module can be configured to compress the image data in away that provides a visually lossless output, or can be configured toallow a user to adjust various parameters to obtain a visually losslessoutput. For example, the compression module 22 can be configured tocompress the image data at a compression ratio of about 6:1, 7:1, 8:1 orgreater. In some embodiments, the compression module 22 can beconfigured to compress the image data to a ratio of 12:1 or higher.

Additionally, the compression module 22 can be configured to allow auser to adjust the compression ratio achieved by the compression module22. For example, the camera 10 can include a user interface that allowsa user to input commands that cause the compression module 22 to changethe compression ratio. Thus, in some embodiments, the camera 10 canprovide for variable compression.

As used herein, the term “visually lossless” is intended to includeoutput that, when compared side by side with original (never compressed)image data on the same display device, one of ordinary skill in the artwould not be able to determine which image is the original with areasonable degree of accuracy, based only on a visual inspection of theimages.

With continued reference to FIG. 1, the camera 10 can also include astorage device 24. The storage device can be in the form of any type ofdigital storage, such as, for example, but without limitation, harddisks, flash memory, or any other type of memory device. In someembodiments, the size of the storage device 24 can be sufficiently largeto store image data from the compression module 22 corresponding to atleast about 30 minutes of video at 12 mega pixel resolution, 12-bitcolor resolution, and at 60 frames per second. However, the storagedevice 24 can have any size.

In some embodiments, the storage device 24 can be mounted on an exteriorof the housing 12. Further, in some embodiments, the storage device 24can be connected to the other components of the system 14 throughstandard communication ports, including, for example, but withoutlimitation, IEEE 1394, USB 2.0, IDE, SATA, etc. Further, in someembodiments, the storage device 24 can comprise a plurality of harddrives operating under a RAID protocol. However, any type of storagedevice can be used.

With continued reference to FIG. 1, as noted above, in some embodiments,the system can include a monitor module 26 and a display device 30configured to allow a user to view video images captured by the imagesensor 18 during operation. In some embodiments, the image processingmodule 20 can include a subsampling system configured to output reducedresolution image data to the monitor module 26. For example, such asubsampling system can be configured to output video image data tosupport 2K, 1080p, 720p, or any other resolution. In some embodiments,filters used for demosaicing can be adapted to also perform downsamplingfiltering, such that downsampling and filtering can be performed at thesame time. The monitor module 26 can be configured to perform any typeof demosaicing process to the data from the image processing module 20.Thereafter, the monitor module 26 can output a demosaiced image data tothe display 30.

The display 30 can be any type of monitoring device. For example, butwithout limitation, the display 30 can be a four-inch LCD panelsupported by the housing 12. For example, in some embodiments, thedisplay 30 can be connected to an infinitely adjustable mount configuredto allow the display 30 to be adjusted to any position relative to thehousing 12 so that a user can view the display 30 at any angle relativeto the housing 12. In some embodiments, the display 30 can be connectedto the monitor module through any type of video cables such as, forexample, an RGB or YCC format video cable.

Optionally, the playback module 28 can be configured to receive datafrom the storage device 24, decompressed and demosaic the image data andthen output the image data to the display 30. In some embodiments, themonitor module 26 and the playback module 28 can be connected to thedisplay through an intermediary display controller (not shown). As such,the display 30 can be connected with a single connector to the displaycontroller. The display controller can be configured to transfer datafrom either the monitor module 26 or the playback module 28 to thedisplay 30.

FIG. 8 includes a flowchart 50 illustrating the processing of image databy the camera 10. In some embodiments, the flowchart 50 can represent acontrol routine stored in a memory device, such as the storage device24, or another storage device (not shown) within the camera 10.Additionally, a central processing unit (CPU) (not shown) can beconfigured to execute the control routine. The below description of themethods corresponding to the flow chart 50 are described in the contextof the processing of a single frame of video image data. Thus, thetechniques can be applied to the processing of a single still image.These processes can also be applied to the processing of continuousvideo, e.g., frame rates of greater than 12, as well as frame rates of20, 23.976, 24, 30, 60, and 120, or other frame rates between theseframe rates or greater.

With continued reference to FIG. 8, control routine can begin atoperation block 52. In the operation block 52, the camera 10 can obtainsensor data. For example, with reference to FIG. 1, the image sensor 18,which can include a Bayer Sensor and chipset, can output image data.

For example, but without limitation, with reference to FIG. 3, the imagesensor can comprise a CMOS device having a Bayer pattern filter on itslight receiving surface. Thus, the focused image from the opticshardware 16 is focused on the Bayer pattern filter on the CMOS device ofthe image sensor 18. FIG. 3 illustrates an example of the Bayer patterncreated by the arrangement of Bayer pattern filter on the CMOS device.

In FIG. 3, column m is the fourth column from the left edge of the Bayerpattern and row n is the fourth row from the top of the pattern. Theremaining columns and rows are labeled relative to column m and row n.However, this layout is merely chosen arbitrarily for purposes ofillustration, and does not limit any of the embodiments or inventionsdisclosed herein.

As noted above, known Bayer pattern filters often include twice as manygreen elements as blue and red elements. In the pattern of FIG. 5, blueelements only appear in rows n−3, n−1, n+1, and n+3. Red elements onlyappear in rows n−2, n, n+2, and n+4. However, green elements appear inall rows and columns, interspersed with the red and blue elements.

Thus, in the operation block 52, the red, blue, and green image dataoutput from the image sensor 18 can be received by the image processingmodule 20 and organized into separate color data components, such asthose illustrated in FIG. 7. As shown in FIG. 7, and as described abovewith reference to FIG. 4, the image processing module 20 can separatethe red, blue, and green image data into four separate components. FIG.7 illustrates two green components (Green 1 and Green 2), a bluecomponent, and a red component. However, this is merely one exemplaryway of processing image data from the image sensor 18. Additionally, asnoted above, the image processing module 20, optionally, can arbitrarilyor selectively delete ½ of the green image data.

After the operation block 52, the flowchart 50 can move on to operationblock 54. In the operation block 54, the image data can be furtherprocessed. For example, optionally, any one or all of the resulting data(e.g., green 1, green 2, the blue image data from FIG. 9, and the redimage data from FIG. 10) can be further processed.

For example, the image data can be pre-emphasized or processed in otherways. In some embodiments, the image data can be processed to be more(mathematically) non-linear. Some compression algorithms benefit fromperforming such a linearization on the picture elements prior tocompression. However, other techniques can also be used. For example,the image data can be processed with a linear curve, which providesessentially no emphasis.

In some embodiments, the operation block 54 can process the image datausing curve defined by the function y=x^0.5. In some embodiments, thiscurve can be used where the image data was, for example but withoutlimitation, floating point data in the normalized 0-1 range. In otherembodiments, for example, where the image data is 12-bit data, the imagecan be processed with the curve y=(x/4095)^0.5. Additionally, the imagedata can be processed with other curves, such as y=(x+c)^g where0.01<g<1 and c is an offset, which can be 0 in some embodiments.Additionally, log curves can also be used. For example, curves in theform y=A*log(B*x+C) where A, B, and C are constants chosen to providethe desired results. Additionally, the above curves and processes can bemodified to provide more linear areas in the vicinity of black, similarto those techniques utilized in the well-known Rec709 gamma curve. Inapplying these processes to the image data, the same processes can beapplied to all of the image data, or different processes can be appliedto the different colors of image data. However, these are merelyexemplary curves that can be used to process the image data, or curvesor transforms can also be used. Additionally, these processingtechniques can be applied using mathematical functions such as thosenoted above, or with Look Up Tables (LUTs). Additionally, differentprocesses, techniques, or transforms can be used for different types ofimage data, different ISO settings used during recording of the imagedata, temperature (which can affect noise levels), etc.

After the operation block 54, the flowchart 50 can move to an operationblock 56. In the operation block 56, the red and blue picture elementscan be transformed. For example, as noted above, green image data can besubtracted from each of the blue and red image data components. In someembodiments, a red or blue image data value can be transformed bysubtracting a green image data value of at least one of the greenpicture elements adjacent to the red or blue picture element. In someembodiments, an average value of the data values of a plurality ofadjacent green picture elements can be subtracted from the red or blueimage data value. For example, but without limitation, average values of2, 3, 4, or more green image data values can be calculated andsubtracted from red or blue picture elements in the vicinity of thegreen picture elements.

For example, but without limitation, with reference to FIG. 3, the rawoutput for the red element R_(m−2,1−2) is surrounded by four greenpicture elements G_(m−2,n−3), G_(m−1,n−2), G_(m−3,n−2), andG_(m−2, n−1). Thus, the red element R_(m−2,n−2) can be transformed bysubtracting the average of the values of the surrounding green elementas follows:R _(m,n) =R _(m,n)−(G _(m,n−1) +G _(m+1,n) +G _(m,n+1) +G_(m−1,n))/4  (1)

Similarly, the blue elements can be transformed in a similar manner bysubtracting the average of the surrounding green elements as follows:B _(m+1,n+1) =B _(m+1,n+1)−(G _(m+1,n) +G _(m+2,n+1) +G _(m+1,n+2) +G_(m,n+1))/4  (2)

FIG. 9 illustrates a resulting blue data component where the originalblue raw data B_(m−1,n−1) is transformed, the new value labeled asB′_(m−1,n−1) (only one value in the component is filled in and the sametechnique can be used for all the blue elements). Similarly, FIG. 10illustrates the red data component having been transformed in which thetransformed red element R_(m−2,n−2) is identified as R′_(m−2,n−2). Inthis state, the image data can still be considered “raw” data. Forexample, the mathematical process performed on the data are entirelyreversible such that all of the original values can be obtained byreversing those processes.

With continued reference to FIG. 8, after the operation block 56, theflowchart 50 can move on to an operation block 58. In the operationblock 58, the resulting data, which is raw or can be substantially raw,can be further compressed to using any known compression algorithm. Forexample, the compression module 22 (FIG. 1) can be configured to performsuch a compression algorithm. After compression, the compressed raw datacan be stored in the storage device 24 (FIG. 1).

FIG. 8A illustrates a modification of the flowchart 50, identified bythe reference numeral 50′. Some of the steps described above withreference to the flowchart 50 can be similar or the same as some of thecorresponding steps of the flowchart 50′ and thus are identified withthe same reference numerals.

As shown in FIG. 8A, the flowchart 50′, in some embodiments, canoptionally omit operation block 54. In some embodiments, the flowchart50′ can also include an operation block 57 in which a look up table canbe applied to the image data. For example, an optional look-up table,represented by the curve of FIG. 11, can be used to enhance furthercompression. In some embodiments, the look-up table of FIG. 11 is onlyused for the green picture elements. In other embodiments, the look-uptable can also be used for red and blue picture elements. The samelook-up table may be used for the three different colors, or each colormay have its own look-up table. Additionally, processes other than thatrepresented by the curve of FIG. 11 can also be applied.

By processing the image data in the manner described above withreference to FIGS. 8 and 8A, it has been discovered that the image datafrom the image sensor 18 can be compressed by a compression ratio of 6to 1 or greater and remain visually lossless. Additionally, although theimage data has been transformed (e.g., by the subtraction of green imagedata) all of the raw image data is still available to an end user. Forexample, by reversing certain of the processes, all or substantially allof the original raw data can be extracted and thus further processed,filtered, and/or demosaiced using any process the user desires.

For example, with reference to FIG. 12, the data stored in the storagedevice 24 can be decompressed and demosaiced. Optionally, the camera 10can be configured to perform the method illustrated by flowchart 60. Forexample, but without limitation, the playback module 28 can beconfigured to perform the method illustrated by flowchart 60. However, auser can also transfer the data from the storage device 24 into aseparate workstation and apply any or all of the steps and/or operationsof the flowchart 60.

With continued reference to FIG. 12, the flowchart 60 can begin with theoperation block 62, in which the data from the storage device 24 isdecompressed. For example, the decompression of the data in operationblock 62 can be the reverse of the compression algorithm performed inoperational block 58 (FIG. 8). After the operation block 62, theflowchart 60 can move on to an operation block 64.

In the operation block 64, a process performed in operation block 57(FIG. 8A) can be reversed. For example, the inverse of the curve of FIG.11 or the inverse of any of the other functions described above withreference to operation blocks 54 or 57 of FIGS. 8 and 8A, can be appliedto the image data. After the operation block 64, the flowchart 60 canmove on to a step 66.

In the operation block 66, the green picture elements can be demosaiced.For example, as noted above, all the values from the data componentsGreen 1 and/or Green 2 (FIG. 7) can be stored in the storage device 24.For example, with reference to FIG. 5, the green image data from thedata components Green 1, Green 2 can be arranged according to theoriginal Bayer pattern applied by the image sensor 18. The green datacan then be further demosaiced by any known technique, such as, forexample, linear interpolation, bilinear, etc.

FIG. 13 illustrates an exemplary layout of green image data demosaicedfrom all of the raw green image data. The green image elementsidentified with the letter G_(x) represent original raw (decompressed)image data and the elements identified with “DG_(x)” represent elementsthat were derived from the original data through the demosaic process.This nomenclature is used with regard to the below descriptions of thedemosaicing process for the other colors. FIG. 14 illustrates anexemplary image data layout for green image data demosaiced from ½ ofthe original green image data.

With continued reference to FIG. 12, the flowchart 60 can, after theoperation block 66, move on to an operation block 68. In the operationblock 68, the demosaiced green image data can be further processed. Forexample, but without limitation, noise reduction techniques can beapplied to the green image data. However, any other image processingtechnique, such as anti-aliasing techniques, can also be applied to thegreen image data. After the operation block 68, the flowchart 60 canmove on to an operation block 70.

In the operation block 70, the red and blue image data can bedemosaiced. For example, firstly, the blue image data of FIG. 9 can berearranged according to the original Bayer pattern (FIG. 15). Thesurrounding elements, as shown in FIG. 16, can be demosaiced from theexisting blue image data using any known demosaicing technique,including linear interpolation, bilinear, etc. As a result ofdemosaicing step, there will be blue image data for every pixel as shownin FIG. 16. However, this blue image data was demosaiced based on themodified blue image data of FIG. 9, i.e., blue image data values fromwhich green image data values were subtracted.

The operation block 70 can also include a demosaicing process of the redimage data. For example, the red image data from FIG. 10 can berearranged according to the original Bayer pattern and furtherdemosaiced by any known demosaicing process such as linearinterpolation, bilinear, etc.

After the operation block 70, the flowchart can move on to an operationblock 72. In the operation block 72, the demosaiced red and blue imagedata can be reconstructed from the demosaiced green image data.

In some embodiments, each of the red and blue image data elements can bereconstructed by adding in the green value from co-sited green imageelement (the green image element in the same column “m” and row “n”position). For example, after demosaicing, the blue image data includesa blue element value DB_(m−2, n−2). Because the original Bayer patternof FIG. 3 did not include a blue element at this position, this bluevalue DB_(m−2,n−2) was derived through the demosaicing process notedabove, based on, for example, blue values from any one of the elementsB_(m−3,n−3), B_(m−1,n−3), B_(m−3,n−1), and B_(m−1,n−1) or by any othertechnique or other blue image elements. As noted above, these valueswere modified in operation block 54 (FIG. 8) and thus do not correspondto the original blue image data detected by the image sensor 18. Rather,an average green value had been subtracted from each of these values.Thus, the resulting blue image data DB_(m−2,n−2) also represents bluedata from which green image data has been subtracted. Thus, in oneembodiment, the demosaiced green image data for element DG_(m−2,n−2) canbe added to the blue image value DB_(m−2,n−2) thereby resulting in areconstructed blue image data value.

In some embodiments, optionally, the blue and/or red image data canfirst be reconstructed before demosaicing. For example, the transformedblue image data B′_(m−1,n−1) can be first reconstructed by adding theaverage value of the surrounding green elements. This would result inobtaining or recalculating the original blue image data B_(m−1,n−1).This process can be performed on all of the blue image data.Subsequently, the blue image data can be further demosaiced by any knowndemosaicing technique. The red image data can also be processed in thesame or similar manners.

FIG. 12A illustrates a modification of the flowchart 60, identified bythe reference numeral 60′. Some of the steps described above withreference to the flowchart 60 can be similar or the same as some of thecorresponding steps of the flowchart 60′ and thus are identified withthe same reference numerals.

As shown in FIG. 12A, the flow chart 60′ can include the operation block68′ following operation block 62. In operation block 68′, a noisereduction technique can be performed on the image data. For example, butwithout limitation, noise reduction techniques can be applied to thegreen image data. However, any other image processing technique, such asanti-aliasing techniques, can also be applied to the green image data.After operation block 68′, the flow chart can move on to operation block70′.

In operation block 70′, the image data can be demosaiced. In thedescription set forth above with reference to operation blocks 66 and70, the green, red, and blue image data can be demosacied in two steps.However, in the present flow chart 60′, the demosaicing of all threecolors of image data is represented in a single step, although the samedemosaicing techniques described above can be used for this demosaicingprocess. After the operation block 70′, the flow chart can move on tooperation block 72, in which the red and blue image data can bereconstructed, and operation block 64 in which an inverse look-up tablecan be applied.

After the image data has been decompressed and processed according toeither of the flow charts 60 or 60′, or any other suitable process, theimage data can be further processed as demosaiced image data.

By demosaicing the green image data before reconstructing the red andblue image data, certain further advantages can be achieved. Forexample, as noted above, the human eye is more sensitive to green light.Demosaicing and processing the green image data optimize the green imagevalues, to which the human eye is more sensitive. Thus, the subsequentreconstruction of the red and blue image data will be affected by theprocessing of the green image data.

Additionally, Bayer patterns have twice as many green elements as redand blue elements. Thus, in embodiments where all of the green data isretained, there is twice as much image data for the green elements ascompared to either the red or blue image data elements. Thus, thedemosaicing techniques, filters, and other image processing techniquesresult in a better demosaiced, sharpened, or otherwise filtered image.Using these demosaiced values to reconstruct and demosaic the red andblue image data transfers the benefits associated with the higherresolution of the original green data to the process, reconstruction,and demosaicing of the red and blue elements. As such, the resultingimage is further enhanced.

FIGS. 17A-B illustrate a modification of the flowchart 50 of FIG. 8Awhich includes a stage of noise removal. The exemplary method may bestored as a process accessible by the image processing module 20,compression module 22, and/or other components of the camera 10. Some ofthe steps described above with reference to the flowchart 50 can besimilar or the same as some of the corresponding steps of the flowchartsin FIGS. 17A-17B, and thus are identified with the same referencenumerals.

As shown in FIGS. 17A-17B, in some embodiments, operation block 170 canbe included in which denoising is applied to the image data. Thedenoising step can include noise removal techniques, such as spatialdenoising where a single image frame is used for noise suppression in apixel or picture element. Temporal denoising methods that use multipleimage frames for noise correction can also be employed, including motionadaptive, semi-motion adaptive, or motion compensative methods.Additionally, other noise removal methods can be used to remove noisefrom images or a video signal, as described in greater detail below withreference to FIG. 17C and FIGS. 18-20.

In some embodiments, the denoising stage illustrated in operation block170 can occur before compression in operation block 58. Removing noisefrom data prior to compression can be advantageous because it cangreatly improve the effectiveness of the compression process. In someembodiments, noise removal can be done as part of the compressionprocess in operation block 58.

As illustrated in FIGS. 17A-17B, operation block 170 can occur atnumerous points in the image data transformation process. For example,denoising can be applied after step 52 to raw image data from an imagesensor prior to transformation; or to Bayer pattern data after thetransformation in operation block 56. In some embodiments, denoising canbe applied before or after the pre-emphasis of data that occurs inoperation block 54. Of note, denoising data before pre-emphasis can beadvantageous because denoising can operate more effectively onperceptually linear data. In addition, in exemplary embodiments, greenimage data can be denoised before operation block 56 to minimize noiseduring the transformation process of red and blue picture elements inoperation block 56.

FIG. 17C includes a flowchart illustrating the multiple stages of noiseremoval from image data. In some embodiments, the flowchart canrepresent a noise removal routine stored in a memory device, such as thestorage device 24, or another storage device (not shown) within thecamera 10. Additionally, a central processing unit (CPU) (not shown) canbe configured to execute the noise removal routine. Depending on theembodiment, certain of the blocks described below may be removed, othersmay be added, and the sequence of the blocks may be altered.

With continued reference to FIG. 17C, the noise removal routine canbegin at operation block 172. In the operation block 172, thresholdedmedian denoising is applied. Thresholded median denoising can includecalculating a median (or average) using pixels surrounding orneighboring a current pixel being denoised in an image frame. Athreshold value can be used to determine whether or not to replace thecurrent pixel with the median. This can be advantageous for removingspiky noise, such as a pixel that is much brighter or darker than itssurrounding pixels. When thresholded median denoising is applied togreen picture elements prior to transforming red and blue pictureelements based on the green picture elements, noise reduction can begreatly improved.

For example, in one embodiment, the thresholded median denoising mayemploy a 3×3 median filter that uses a sorting algorithm to smoothartifacts that may be introduced, for example, by defect managementalgorithms applied and temporal noise. These artifacts are generallymanifested as salt-and-pepper noise and the median filter may be usefulfor removing this kind of noise.

As noted, a threshold can be used in thresholded median denoising todetermine whether or not a pixel should be replaced depending on ametric that measures the similarity or difference of a pixel relative tothe median value. For example, assuming neighboring green pixels G1 andG2 can be treated as if they are from the same sample. The thresholdedmedian denoising may employ the following algorithm which is expressedin the form of pseudocode for illustrative purposes:Difference=abs(Gamma(Pixel Value)−Gamma(Median Value))

If (Difference<Threshold), Choose Pixel Value

Else, Choose Median Value

One skilled in the art will recognize that thresholded median denoisingmay employ other types of algorithms. For example, the threshold valuemay be a static value that is predetermined or calculated.Alternatively, the threshold value may be dynamically determined andadjusted based on characteristics of a current frame, characteristics ofone or more previous frames, etc.

Moving to block 174, spatial denoising is applied to the image data.Spatial denoising can include using picture elements that neighbor acurrent pixel (e.g. are within spatial proximity) in an image or videoframe for noise removal. In some embodiments, a weighting function thatweights the surrounding pixels based on their distance from the currentpixel, brightness, and the difference in brightness level from thecurrent pixel can be used. This can greatly improve noise reduction inan image frame. Of note, spatial denoising can occur on the transformedred, blue, and green pixels after pre-emphasis in some embodiments.

Continuing to block 176, temporal denoising is applied to the imagedata. Temporal denoising can include using data from several image orvideo frames to remove noise from a current frame. For example, aprevious frame or a cumulative frame can be used to remove noise fromthe current frame. The temporal denoising process can, in someembodiments, be used to remove shimmer. In some embodiments, motionadaptive, semi-motion adaptive, and motion compensative methods can beemployed that detect pixel motion to determine the correct pixel valuesfrom previous frames.

FIG. 18A illustrates embodiments of a flowchart of an exemplary methodof median thresholded denoising. The exemplary method may be stored as aprocess accessible by the image processing module 150 and/or othercomponents of the camera 10. Depending on the embodiment, certain of theblocks described below may be removed, others may be added, and thesequence of the blocks may be altered.

Beginning in block 180, a median (or in some embodiments, an average) ofpixels surrounding a current pixel in an image frame is computed. Asample of pixels of various sizes can be selected from the image orvideo frame to optimize noise reduction, while balancing limitations inthe underlying hardware of the camera 10. For example, FIG. 18B showsthe sample kernel size for red and blue data pixels, while FIG. 18Cshows the sample size for green data pixels. In both FIGS. 18B-18C, thesample size is 9 points for red (R), blue (B), and green (G1 or G2)image data.

Of note, FIG. 18B shows the pattern of pixels used to calculate themedian for red and blue pixels. As shown, in FIG. 18B the sample ofpixels used for red and blue data maintains a square shape. However, ascan be seen in FIG. 18C, the sample of pixels used for green data has adiamond shape. Of note, different sample shapes and sizes can beselected depending on the format of the image data and otherconstraints.

With continued reference to FIG. 18A, after operation block 180, theflowchart moves on to block 182. In block 182, the value of the currentpixel is compared to the median. Moving to block 184, if the currentpixel deviates (for example, the absolute difference) from the median bymore than a threshold value, then in block 186 the current pixel isreplaced with the median value. However, in block 188, if the currentpixel does not deviate from the median by more than a threshold value,the current pixel value is left alone.

In some embodiments, the value of the computed median or threshold canvary depending on whether the current pixel being denoised is in a darkor bright region. For example, when the pixel values correspond tolinear light sensor data, a weight can be applied to each of thesurrounding pixels so that the end result is not skewed based on whetherthe current pixel is in a bright or dark region. Alternatively, athreshold value can be selected depending on the brightness of thecalculated median or current pixel. This can eliminate excessive noiseremoval from pixels in shadow regions of a frame during the denoisingprocess.

FIG. 19A illustrates an exemplary method of spatial noise removal from aframe of image or video data. The exemplary method may be stored as aprocess accessible by the image processing module 20, compression module22, and/or other components of the camera 10. Depending on theembodiment, certain of the blocks described below may be removed, othersmay be added, and the sequence of the blocks may be altered.

Beginning in operation block 190, a current pixel in an image frame areselected and checked against a threshold to determine whether thecurrent pixel exceeds a noise threshold. An artisan will recognize thata variety of techniques can be used to determine whether the currentpixel exceeds a noise threshold, including those described with respectto FIG. 18A and others herein.

Continuing to block 192, a set of pixels that neighbor the current pixelis selected and a spatial function is applied to the neighboring pixels.FIGS. 19B-19C illustrate sample layouts of surrounding blue, red, andgreen pixels that can be used as data points to supply as input to thespatial function. In FIG. 19B, a sample kernel with 21 taps or points ofred image data is shown. As can be seen in FIG. 19B, the sample has asubstantially circular pattern and shape. Of note, a sampling of pointssimilar to that in FIG. 19B can be used for blue picture elements.

In FIG. 19C, a sampling of data points that neighbor a current pixelwith green data is shown. As shown, the sample includes 29 data pointsthat form a substantially circular pattern. Of note, FIGS. 19B-19Cillustrate exemplary embodiments and other numbers of data points andshapes can be selected for the sample depending on the extent of noiseremoval needed and hardware constraints of camera 10.

With further reference to block 192, the spatial function typicallyweights pixels surrounding the current pixel being denoised based on thedifference in brightness levels between the current pixel and thesurrounding pixel, the brightness level of the current pixel, and thedistance of the surrounding pixel from the current pixel. In someembodiments, some or all three of the factors described (as well asothers) can be used by the spatial function to denoise the currentpixel.

In some embodiments, the absolute difference between the brightnesslevel of the current pixel being denoised and each of the neighboringpixels can be calculated to determine the strength of the denoise foreach neighboring pixel. Alternatively, as shown in FIG. 19D, anexemplary weight function that applies a bilateral filter can be appliedto achieve this effect. In FIG. 19D, the current pixel is provided asthe x input to the weight function and the surrounding pixel is providedas the y input. As can be seen in FIG. 19D, the weight function can begenerally symmetrical about the x axis. The right side of the weightfunction can include 3 line segments. Depending on which line segmentthe current pixel and surrounding pixel fall, the result of the weightfunction can result in one of three values. In some embodiments, the endpoints of the weight function (x0, y0) and (x3, y3) can be fixed at thecoordinates (0, 1) and (1, 0), respectively. The coordinates of the twomiddle points (x1, y1) and (y2, x2) can be programmable. Of note, acombination of a fixed and programmable arrangement of coordinates canreduce computation time while still providing accuracy. In someembodiments, weight functions that have substantially similar propertiesas the exemplary function of FIG. 19D can also be used.

As previously described, the brightness level of the current pixel beingdenoised can also be used by the spatial function to denoise the currentpixel. FIGS. 19E-19F illustrate exemplary weighting functions that canbe used to adjust the spatial denoising function to account for darkerregions of an image. Generally, the curve shown in FIG. 19E can berepresented by the function: Y=X^(1/3). The curve shown in FIG. 19F canbe generally represented by the function Y=(⅓)^(x). Both FIGS. 19E-19Freceive the brightness (or absolute brightness) of the pixel beingdenoised as input x, and output a weighted brightness value as y. Insome embodiments, curve families having substantially similar propertiescan also be used.

With continued to reference to block 192, the distance of eachsurrounding pixel from the current pixel being denoised can also be usedto control how strong the denoise effect is. In exemplary embodiments,FIGS. 19B-19C, both of which have been previously described, can be usedto separate the neighboring pixels into two groups based on theirdistance from the current pixel. Depending on which group theneighboring pixel falls in, it can be given a certain weight in thespatial denoise function. For example, pixels further away from thecurrent pixel can be weighted less, whereas, pixels closer to thecurrent pixel can be weighted more heavily. In some embodiments, threeor more groups can be used to differentiate neighboring pixels based ondistance.

Continuing to operation block 192, the spatial function finishescalculating a denoised pixel value for the current pixel that weightssurrounding pixels based on the difference in brightness levels betweenthe current pixel and each surrounding pixel, the brightness level ofthe current pixel, and the distance of each surrounding pixel from thecurrent pixel. After the denoised pixel value is calculated the currentpixel is set to the denoised pixel value.

FIG. 20 illustrates an exemplary method of temporal noise removal from aframe of video or image data. The exemplary method may be stored as aprocess accessible by the image processing module 20, compression module22, and/or other components of the camera 10. Depending on theembodiment, certain of the blocks described below may be removed, othersmay be added, and the sequence of the blocks may be altered.

Beginning in operation block 200, a current pixel in an image frame isselected and checked against a threshold to determine whether thecurrent pixel exceeds a noise threshold. An artisan will recognize thata variety of techniques can be used to determine whether the currentpixel exceeds a noise threshold, including those described with respectto FIG. 18A and others herein.

Moving to block 202, a previous frame that is spatially denoised isobtained. For example, after the denoising routine of FIG. 19A is run ona previous frame that frame can be selected. Alternatively, a cumulativeframe or a prior frame that is not yet denoised can be used.

Continuing to block 204, the temporal function weights pixelssurrounding the current pixel being denoised from the previous frame(s)based on the difference in brightness levels between the current pixeland the surrounding pixels, the brightness level of the current pixel,and the distance of the surrounding pixels from the current pixel. Insome embodiments, some or all three of the factors described (as well asothers) can be used by the temporal function to denoise the currentpixel.

With further reference to block 204, a set of pixels that neighbor thecurrent pixel in the previous frame are selected and a temporal functionis applied to the neighboring pixels. Previously described FIGS. 19B-19Cwhich illustrate sample layouts of surrounding blue, red, and greenpixels in a previous frame can be used as data points in the temporalfunction, in addition to the current pixel being denoised in the currentframe. In addition, previously described FIG. 19D which illustrates aweight function to determine the strength of the denoise for eachneighboring pixel based on its brightness level can also be used. Insome embodiments, a distance weighting function that weights surroundingpixels in the previous frame based on their distance from the currentpixel can be used to control how the strong the denoising effect is. Thebrightness level of the current pixel being denoised can also be used,in some embodiments, by the temporal function. FIGS. 19E-19F illustrateexemplary weighting functions that can be used to adjust the temporaldenoising function to account for darker regions of an image. Of note,other curves and families of curves can be used.

Continuing to operation block 206, the spatial function finishescalculating a denoised pixel value for the current pixel that weightssurrounding pixels from the previous frame based on the difference inbrightness levels between the current pixel in the current frame andeach surrounding pixel, the brightness level of the current pixel, andthe distance of the surrounding pixel from each current pixel. After thedenoised pixel value is calculated, the current pixel can be set to thedenoised pixel value.

What is claimed is:
 1. A video processing system, comprising: a videoprocessor comprising computer hardware having a decompression componentand a demosaicing component implemented therein, the video processorconfigured to receive first data comprising compressed raw mosaicedmotion video image data having image frames with a plurality of pixels,the compressed raw mosaiced motion video image data corresponding to ahorizontal resolution of at least two thousand pixels and correspondingto a frame rate of at least about 23 frames per second, the compressedraw mosaiced motion video image data including at least one numericaldata value for each of the plurality of pixels and less than threenumerical data values for each of the plurality of pixels, thedecompression component configured to decompress the first data togenerate first decompressed raw mosaiced motion video data including atleast one numerical data value for each of the plurality of pixels andless than three numerical data values for each of the plurality ofpixels, and the demosaicing component configured to demosaic the firstdecompressed raw mosaiced motion video data into demosaiced motion videodata having frames with a resolution of at least two thousand pixels andcorresponding to a frame rate of at least about 23 frames per second,such that the demosaiced motion video data is substantially visuallylossless, wherein the image frames of the compressed raw mosaiced motionvideo image data correspond to a horizontal resolution falling within arange between and inclusive of 2 k and 4.5 k and correspond to a framerate falling within a range between and inclusive of 23 frames persecond and 120 frames per second, and wherein the frames of thedemosaiced motion video data have a resolution falling within a rangebetween and inclusive of 2 k and 4.5 k and correspond to a frame ratefalling within a range between and inclusive of 23 frames per second and120 frames per second.
 2. A video processing system according to claim 1wherein the compressed raw mosaiced motion image video data iscompressed according to a mathematically lossless compression technique.3. A video processing system according to claim 1 wherein the compressedraw mosaiced motion video image data is compressed according to aHuffman technique.
 4. A video processing system according to claim 1wherein the compressed raw mosaiced motion video image data iscompressed according to a mathematically lossy compression technique. 5.A video processing system according to claim 1 wherein the compressedraw mosaiced motion video image data is compressed according to awavelet compression technique.
 6. A video processing system according toclaim 1 wherein the compressed raw mosaiced motion video image datacorresponds to first, second, and third colors, the first, second, andthird colors being different from each other, the plurality of pixels ofeach of the image frames arranged according to an intermingled sensorpattern such that the compressed raw mosaiced motion video image dataincludes one numerical data value for each respective pixel of theplurality of pixels, wherein the one numerical data value for eachrespective pixel corresponds to one of the first, second, and thirdcolors.
 7. A video processing system according to claim 1 wherein thevideo processor is further configured to output the demosaiced motionvideo data for presentation on an electronic display.
 8. A videoprocessing system according to claim 1 wherein the video processor formsa part of a workstation separate from a video camera that was used togenerate the compressed raw mosaiced motion video image data.
 9. A videoprocessing system according to claim 1 wherein the image frames of thecompressed raw mosaiced motion video image data have a plurality ofpixels corresponding to a horizontal resolution of at least two thousandpixels and correspond to a frame rate of at least 23 frames per second,and wherein the frames of the demosaiced motion video data have aresolution of at least two thousand pixels and correspond to a framerate of at least 23 frames per second, such that the demosaiced motionvideo data is visually lossless.
 10. A video processing system accordingto claim 1 wherein the image frames of the compressed raw mosaicedmotion video image data have a plurality of pixels corresponding to ahorizontal resolution of at least four thousand pixels, and the framesof the demosaiced motion video data have a resolution of at least fourthousand pixels, such that the demosaiced motion video data issubstantially visually lossless.
 11. A video processing system accordingto claim 1 wherein the image frames of the compressed raw mosaicedmotion video image data have a plurality of pixels corresponding to ahorizontal resolution of at least four thousand pixels and correspond toa frame rate of at least 23 frames per second, and wherein the frames ofthe demosaiced motion video data have a resolution of at least fourthousand pixels and correspond to a frame rate of at least 23 frames persecond, such that the demosaiced motion video data is visually lossless.12. A video processing system according to claim 1 wherein the videoprocessor is further configured to apply the inverse of a pre-emphasisfunction to the first decompressed raw mosaiced motion video image data,the pre-emphasis function having been applied by a video camera duringrecording of the first data, wherein the application of the pre-emphasisfunction increased data values corresponding to relatively dark imageregions and decreased data values corresponding to relatively brightimage regions.
 13. A video processing system according to claim 1comprising: a video processor comprising computer hardware having adecompression component and a demosaicing component implemented therein,the video processor configured to receive first data comprisingcompressed raw mosaiced motion video image data having image frames witha plurality of pixels, the compressed raw mosaiced motion video imagedata corresponding to a horizontal resolution of at least two thousandpixels and corresponding to a frame rate of at least about 23 frames persecond, the compressed raw mosaiced motion video image data including atleast one numerical data value for each of the plurality of pixels andless than three numerical data values for each of the plurality ofpixels, the decompression component configured to decompress the firstdata to generate first decompressed raw mosaiced motion video dataincluding at least one numerical data value for each of the plurality ofpixels and less than three numerical data values for each of theplurality of pixels, and the demosaicing component configured todemosaic the first decompressed raw mosaiced motion video data intodemosaiced motion video data having frames with a resolution of at leasttwo thousand pixels and corresponding to a frame rate of at least about23 frames per second, such that the demosaiced motion video data issubstantially visually lossless, wherein the image frames of thecompressed raw mosaiced motion video image data correspond to ahorizontal resolution that is one of 2 k, 4 k, and 4.5 k and correspondto a frame rate falling within a range between and inclusive of 23frames per second and 120 frames per second, and wherein the frames ofthe demosaiced motion video data have a resolution that is one of 2 k, 4k, and 4.5 k and correspond to a frame rate falling within a rangebetween and inclusive of 23 frames per second and 120 frames per second.14. A method, comprising: receiving first data comprising compressedmosaiced motion video image data having image frames with a plurality ofpixels, the compressed mosaiced video image data corresponding to ahorizontal resolution of at least two thousand pixels and correspondingto a frame rate of at least about 23 frames per second, the compressedmosaiced motion video image data including at least one numerical datavalue for each of the plurality of pixels and less than three numericaldata values for each of the plurality of pixels; with a video processorcomprising computer hardware, decompressing the first data to generatefirst decompressed mosaiced motion video data including at least onenumerical data value for each of the plurality of pixels and less thanthree numerical data values for each of the plurality of pixels; andwith the video processor, demosaicing the first decompressed mosaicedmotion video data into demosaiced motion video data having frames with aresolution of at least two thousand pixels and corresponding to a framerate of at least about 23 frames per second, such that the demosaicedmotion video data is substantially visually lossless, wherein the imageframes of the compressed mosaiced motion video image data correspond toa horizontal resolution falling within a range between and inclusive of2 k and 4.5 k and correspond to a frame rate falling within a rangebetween and inclusive of 23 frames per second and 120 frames per second,and wherein the frames of the demosaiced motion video data have aresolution falling within a range between and inclusive of 2 k and 4.5 kand correspond to a frame rate falling within a range between andinclusive of 23 frames per second and 120 frames per second.
 15. Amethod according to claim 14 wherein the compressed mosaiced motionvideo image data is compressed according to a mathematically losslesscompression technique.
 16. A method according to claim 14 wherein thecompressed mosaiced motion video image data is compressed according to aHuffman technique.
 17. A method according to claim 14 wherein thecompressed mosaiced motion video image data is compressed according to amathematically lossy compression technique.
 18. A method according toclaim 14 wherein the compressed mosaiced motion video image data iscompressed according to a wavelet compression technique.
 19. A methodaccording to claim 14 wherein the compressed mosaiced motion video imagedata corresponds to first, second, and third colors, the first, second,and third colors being different from each other, the plurality ofpixels of each of the image frames arranged according to an intermingledsensor pattern such that the compressed mosaiced motion video image dataincludes one numerical data value for each respective pixel of theplurality of pixels, wherein the one numerical data value for eachrespective pixel corresponds to one of the first, second, and thirdcolors.
 20. A method according to claim 14 wherein the video processorforms a part of a workstation separate from a video camera used togenerate the compressed mosaiced motion video image data.
 21. A methodaccording to claim 14 further comprising outputting the demosaicedmotion video image data for presentation on an electronic display.
 22. Amethod according to claim 14 wherein the image frames of the compressedmosaiced motion video image data have a plurality of pixelscorresponding to a horizontal resolution of at least two thousand pixelsand correspond to a frame rate of at least 23 frames per second, andwherein the frames of the demosaiced motion video data have a resolutionof at least two thousand pixels and correspond to a frame rate of atleast 23 frames per second, such that the demosaiced motion video datais visually lossless.
 23. A method according to claim 14 wherein theimage frames of the compressed mosaiced motion video image data have aplurality of pixels corresponding to a horizontal resolution of at leastfour thousand pixels, and the frames of the demosaiced motion video datahave a resolution of at least four thousand pixels, such that thedemosaiced motion video data is substantially visually lossless.
 24. Amethod according to claim 14 wherein the image frames of the compressedmosaiced motion video image data have a plurality of pixelscorresponding to a horizontal resolution of at least four thousandpixels and correspond to a frame rate of at least 23 frames per second,and wherein the frames of the demosaiced motion video data have aresolution of at least four thousand pixels and correspond to a framerate of at least 23 frames per second, such that the demosaiced motionvideo data is visually lossless.
 25. A method according to claim 14further comprising, subsequent to said decompressing, applying theinverse of a pre-emphasis function to the first decompressed mosaicedmotion video image data, the pre-emphasis function having been appliedby a video camera during recording of the first data, wherein theapplication of the pre-emphasis function increased data valuescorresponding to relatively dark image regions and decreased data valuescorresponding to relatively bright image regions.
 26. A method accordingto claim 14 wherein the compressed mosaiced motion video image data iscompressed raw mosaiced motion video image data.
 27. A method,comprising: receiving first data comprising compressed mosaiced motionvideo image data having image frames with a plurality of pixels, thecompressed mosaiced video image data corresponding to a horizontalresolution of at least two thousand pixels and corresponding to a framerate of at least about 23 frames per second, the compressed mosaicedmotion video image data including at least one numerical data value foreach of the plurality of pixels and less than three numerical datavalues for each of the plurality of pixels; with a video processorcomprising computer hardware, decompressing the first data to generatefirst decompressed mosaiced motion video data including at least onenumerical data value for each of the plurality of pixels and less thanthree numerical data values for each of the plurality of pixels; andwith the video processor, demosaicing the first decompressed mosaicedmotion video data into demosaiced motion video data having frames with aresolution of at least two thousand pixels and corresponding to a framerate of at least about 23 frames per second, such that the demosaicedmotion video data is substantially visually lossless, wherein the imageframes of the compressed mosaiced motion video image data correspond toa horizontal resolution that is one of 2 k, 4 k, and 4.5 k andcorrespond to a frame rate falling within a range between and inclusiveof 23 frames per second and 120 frames per second, and wherein theframes of the demosaiced motion video data have a resolution that is oneof 2 k, 4 k, and 4.5 k and correspond to a frame rate falling within arange between and inclusive of 23 frames per second and 120 frames persecond.